# HG changeset patch
# User Eleni Maria Stea <eleni@mutantstargoat.com>
# Date 1380978188 -10800
# Node ID 80df8030105bf88966cc2183a5af19aa5d7e4df5

init kinect

diff -r 000000000000 -r 80df8030105b .hgignore
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/.hgignore	Sat Oct 05 16:03:08 2013 +0300
@@ -0,0 +1,8 @@
+syntax: glob
+*.o
+*.settings
+*.cproject
+*.project
+*.d
+invisible
+*.swp
diff -r 000000000000 -r 80df8030105b Makefile
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/Makefile	Sat Oct 05 16:03:08 2013 +0300
@@ -0,0 +1,23 @@
+src = $(wildcard src/*.cc)
+obj = $(src:.cc=.o)
+dep = $(obj:.o=.d)
+bin = invisible
+
+dbg = -g -std=c++11
+opt = -O0
+
+CXX = g++
+INCLUDE = -I/usr/include/
+CXXFLAGS = -fPIC -pedantic -Wall $(dbg) `pkg-config --cflags opencv` $(INCLUDE)
+LDFLAGS = -L/usr/lib $(libs) -lGL -lGLU -lglut -lGLEW -lfreenect -lpthread `pkg-config --libs opencv`
+
+$(bin): $(obj)
+	$(CXX) -o $@ $(obj) $(LDFLAGS)
+
+%.d: %.cc
+	@$(CPP) $(CXXFLAGS) $< -MM -MT $(@:.d=.o) >$@
+
+.PHONY: clean
+clean:
+	rm -f $(obj) $(bin) $(dep)
+
diff -r 000000000000 -r 80df8030105b src/kinect.cc
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/src/kinect.cc	Sat Oct 05 16:03:08 2013 +0300
@@ -0,0 +1,102 @@
+#include <stdio.h>
+#include <pthread.h>
+#include <libfreenect.h>
+#include "kinect.h"
+
+static void video_cb(freenect_device *kin_dev, void *rgb, uint32_t time);
+static void depth_cb(freenect_device *kin_dev, void *depth, uint32_t time);
+
+static pthread_mutex_t video_mutex = PTHREAD_MUTEX_INITIALIZER;
+static pthread_mutex_t depth_mutex = PTHREAD_MUTEX_INITIALIZER;
+
+bool init_kinect(freenect_context **kin_ctx, freenect_device **kin_dev, KinectParams *kin_params)
+{
+	if(freenect_init(kin_ctx, NULL) < 0) {
+		fprintf(stderr, "Failed to initialize kinect context.\n");
+		return false;
+	}
+
+	freenect_set_log_level(*kin_ctx, FREENECT_LOG_INFO);
+
+	int num_dev = freenect_num_devices(*kin_ctx);
+	if(num_dev < 1) {
+		fprintf(stderr, "Kinect device not found.\n");
+		return false;
+	}
+	printf("%d devices found, will use the first.\n", num_dev);
+
+	if(freenect_open_device(*kin_ctx, kin_dev, 0) < 0) {
+		fprintf(stderr, "Couldn't open kinect device.\n");
+		return false;
+	}
+
+	if(freenect_set_tilt_degs(*kin_dev, kin_params->angle) < 0) {
+		stop_kinect(*kin_ctx, *kin_dev);
+		fprintf(stderr, "Failed to set kinect angle\n");
+		return false;
+	}
+
+	if(freenect_set_led(*kin_dev, kin_params->led_color) < 0) {
+		stop_kinect(*kin_ctx, *kin_dev);
+		fprintf(stderr, "Failed to set kinect LED\n");
+		return false;
+	}
+
+	pthread_mutex_init(&video_mutex, NULL);
+	pthread_mutex_init(&depth_mutex, NULL);
+
+	freenect_set_video_callback(*kin_dev, video_cb);
+	freenect_set_depth_callback(*kin_dev, depth_cb);
+
+	if(freenect_set_video_mode(*kin_dev,
+			freenect_find_video_mode(kin_params->video_res,
+				kin_params->video_format)) < 0) {
+		stop_kinect(*kin_ctx, *kin_dev);
+		fprintf(stderr, "Failed to set kinect video mode.\n");
+		return false;
+	}
+
+	if(freenect_set_depth_mode(*kin_dev,
+				freenect_find_depth_mode(kin_params->depth_res,
+					kin_params->depth_format)) < 0) {
+		stop_kinect(*kin_ctx, *kin_dev);
+		fprintf(stderr, "Failed to set kinect depth mode.\n");
+		return false;
+	}
+
+	if(freenect_start_video(*kin_dev) < 0) {
+		fprintf(stderr, "Failed to start kinect video.\n");
+		return false;
+	}
+
+	if(freenect_start_depth(*kin_dev) < 0) {
+		fprintf(stderr, "Failed to start kinect depth video.\n");
+		return false;
+	}
+
+	return true;
+}
+
+void stop_kinect(freenect_context *kin_ctx, freenect_device *kin_dev)
+{
+	freenect_set_led(kin_dev, LED_OFF);
+
+	freenect_stop_depth(kin_dev);
+	freenect_stop_video(kin_dev);
+	freenect_close_device(kin_dev);
+	freenect_shutdown(kin_ctx);
+}
+
+void video_cb(freenect_device *kin_dev, void *rgb, uint32_t time)
+{
+	pthread_mutex_lock(&video_mutex);
+	printf("Started video.\n");
+	pthread_mutex_unlock(&video_mutex);
+}
+
+void depth_cb(freenect_device *kin_dev, void *depth, uint32_t time)
+{
+	pthread_mutex_lock(&depth_mutex);
+	printf("Started depth.\n");
+	pthread_mutex_unlock(&depth_mutex);
+}
diff -r 000000000000 -r 80df8030105b src/kinect.h
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/src/kinect.h	Sat Oct 05 16:03:08 2013 +0300
@@ -0,0 +1,30 @@
+#ifndef KINECT_H_
+#define KINECT_H_
+
+#include <libfreenect.h>
+
+#define FREENECT_ANGLE 30
+
+struct KinectParams {
+	double angle;
+	freenect_led_options led_color;
+	freenect_video_format video_format;
+	freenect_depth_format depth_format;
+	freenect_resolution video_res;
+	freenect_resolution depth_res;
+
+	KinectParams()
+	{
+		angle = 10;
+		led_color = LED_RED;
+		video_format = FREENECT_VIDEO_RGB;
+		depth_format = FREENECT_DEPTH_11BIT;
+		video_res = FREENECT_RESOLUTION_MEDIUM;
+		depth_res = FREENECT_RESOLUTION_MEDIUM;
+	}
+};
+
+bool init_kinect(freenect_context **kin_ctx, freenect_device **kin_dev, KinectParams *kin_params);
+void stop_kinect(freenect_context *kin_ctx, freenect_device *kin_dev);
+
+#endif // KINECT_H_
diff -r 000000000000 -r 80df8030105b src/main.cc
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/src/main.cc	Sat Oct 05 16:03:08 2013 +0300
@@ -0,0 +1,17 @@
+#include <stdio.h>
+
+#include "kinect.h"
+
+freenect_context *kin_ctx;
+freenect_device *kin_dev;
+KinectParams kin_params;
+
+int main()
+{
+	printf("hi\n");
+
+	if(!init_kinect(&kin_ctx, &kin_dev, &kin_params))
+		return 1;
+
+	stop_kinect(kin_ctx, kin_dev);
+}